System, Method, and Apparatus for Drone Positioning Control

1. A system for drone positioning control, comprising at least: a drone; a positioning control subsystem onboard the drone, wherein the positioning control subsystem is configured to provide positioning control for the drone by executing at least one positioning plan data set; at least one subcontroller communicatively coupled to the positioning control subsystem; at least one ground control device communicatively coupled to the positioning control subsystem; at least one processor configured to: a) determine at least one geographical area having a geographical area perimeter; b) identify any obstacle present within the at least one geographical area; c) determine at least one geographical geofence within the at least one geographical area, wherein the at least one geographical geofence comprises a digital boundary in digital three-dimensional space, and wherein the at least one geographical geofence is located at least one first geographical distance from the at least one geographical area perimeter; d) recognize the at least one geographical geofence as a drone position boundary; e) recognize at least one marker having at least one marker location, wherein the at least one marker location represents the position of the at least one marker in three-dimensional space; f) determine at least one marker geofence, wherein the at least one marker geofence exists in digital three-dimensional space, and wherein the at least one marker geofence is located at least one first marker distance from the at least one marker location; g) recognize the at least one marker geofence as a drone flight boundary; h) generate a positioning plan data set, comprising: a. at least one path, wherein the at least one path is a drone positioning course plotted within the at least one geographical geofence, wherein the at least one path is configured to cause the drone to: i. avoid contacting any identified obstacle; ii. avoid crossing the at least one geographical geofence; and iii. avoid crossing the at least one marker geofence; b. at least one destination along the at least one path, wherein the at least one destination is a prescribed location in three-dimensional space based at least in part on at least one destination distance from the at least one marker location; and c. at least one rotor instruction, wherein the at least one rotor instruction is configured to cause the positioning control subsystem to operate the at least one rotor such that the drone reaches the at least one destination; and i) transmit the at least one positioning plan data set to the positioning control subsystem.

2. The system of claim 1 , wherein the at least one marker is at least one beacon marker, wherein the at least one beacon marker is physically attached to at least one subject, wherein the at least one marker perimeter is at least one beacon marker perimeter, wherein the at least one first marker location is at least one first beacon marker location, and wherein the at least one marker geofence is at least one beacon marker geofence.

3. The system of claim 1 , wherein the at least one marker is at least one digital marker, wherein the at least one digital marker is digitally attached to at least one subject, wherein the at least one first marker location is at least one first digital marker location, wherein the at least one marker geofence is at least one digital marker geofence, and wherein the at least one marker geofence is at least one digital marker geofence.

4. The system of claim 3 , further comprising at least one image sensor, wherein the at least one image sensor is configured to: a) detect at least one image; b) detect at least one subject within the at least one image; c) detect at least one salient feature of the at least one subject from within the at least one image; d) digitally apply at least one digital marker to the at least one subject, wherein the at least one digital marker overlays the at least one salient feature; and e) transmit the at least one image, the at least one salient feature, and the at least one digital marker to the positioning control subsystem.

5. The system of claim 3 , wherein the positioning control subsystem is configured to receive and process at least one image, at least one salient feature, and at least one digital marker, and wherein the at least one ground control device is configured to: a) detect at least one image; b) detect at least one subject within the at least one image; c) detect at least one salient feature of the at least one subject from within the at least one image; d) digitally apply at least one digital marker to the at least one subject, wherein the at least one digital marker overlays the at least one salient feature; and e) transmit the at least one image, the at least one salient feature, and the at least one digital marker to the positioning control subsystem.

6. The system of claim 1 , wherein the at least one marker, the at least one marker geofence, and the at least one destination are in motion within the at least one geographical geofence.

7. The system of claim 6 , wherein the at least one rotor instruction is configured to cause the positioning control subsystem to operate the at least one rotor so as to cause the drone to maintain its position at the at least one destination.

8. The system of claim 7 , wherein the at least one marker and the at least one marker geofence are traveling in a spiral motion.

9. The system of claim 1 , further comprising at least one camera onboard the drone, wherein the at least one camera is communicatively coupled to the at least one processor.

10. The system of claim 1 , wherein the at least one processor is communicatively coupled to the at least one subcontroller.

11. The system of claim 1 , wherein the at least one processor is further configured to: a) determine a first destination paired with a first marker location; b) determine at least one timing interval having an expiration point; c) determine at least one additional destination paired with at least one additional marker location; and d) execute at least one rotor instruction configured to cause the positioning control subsystem to operate the at least one rotor so as to fly the drone to the at least one additional destination after the at least one timing interval expires.

12. The system of claim 1 , wherein the at least one processor is further configured to: a) determine a first destination paired with a first marker location; b) determine at least one sequence command; c) determine at least one additional destination paired with at least one additional marker location; and d) execute at least one rotor instruction configured to cause the positioning control subsystem to operate the at least one rotor so as to fly the drone to the at least one additional destination according to the sequence command.

13. The system of claim 1 , wherein the at least one processor is further configured to: a) recognize at least one first priority marker, at least one first priority distance comprising the distance between the drone and the at least one first priority marker, and at least one first priority destination; b) recognize at least one second priority marker, at least one second priority distance comprising the distance between the drone and the at least one second priority marker, and at least one second priority destination; and c) execute at least one command comprising at least one if-then relationship, wherein the if-then relationship comprises at least one condition that when fulfilled initiates an instruction to the positioning control subsystem to cause the at least one rotor to reposition the drone from the first priority destination to the second priority destination.

14. The system of claim 13 , wherein the condition comprises a break in a line of sight between at least one image sensor and the at least one first priority marker.

15. The system of claim 13 , wherein the condition comprises a change in position between the at least one first priority marker and the at least one second priority marker such that the at least one second priority marker is closer to an object of interest than the at least one first priority marker.

16. A method for drone positioning control, comprising: by a positioning control subsystem communicatively coupled to at least one ground control device, at least one drone, at least one image sensor onboard the drone, at least one subcontroller communicatively coupled to the positioning control subsystem, and at least one processor: determining at least one geographical area having a geographical area perimeter, wherein the at least one geographical area comprises at least three latitude and longitude coordinates; identifying any obstacle within the at least one geographical area; determining at least one geographical geofence within the at least one geographical area, wherein the at least one geographical geofence comprises a digital boundary in digital three-dimensional space, and wherein the geographical geofence is located a distance from the at least one geographical area perimeter; recognizing the at least one geographical geofence as at least one geographical geofence drone boundary; recognizing at least one marker having at least one marker location, wherein the at least one marker location represents the position of the at least one marker in three-dimensional space; determining at least one marker geofence, wherein the at least one marker geofence exists in digital three dimensional space a distance from the at least one marker location; recognizing the at least one marker geofence as at least one marker geofence drone boundary; generating a positioning plan data set, comprising: a) at least one path, wherein the at least one path is a drone positioning course plotted within the at least one geographical geofence, wherein the at least one path is configured to cause the drone to: i. avoid contacting any identified obstacle; ii. avoid crossing the at least one geographical geofence; and iii. avoid crossing the at least one marker geofence; b) at least one destination along the at least one path, wherein the at least one destination is a prescribed location in three-dimensional space based at least in part on a distance from the at least one marker location; and c) at least one rotor instruction, wherein the at least one rotor instruction is configured to cause the positioning control subsystem to operate the at least one rotor such that the drone reaches the at least one destination; and transmitting the at least one positioning plan data set to the positioning control subsystem.

17. An apparatus for drone positioning control, comprising: a drone; a positioning control subsystem onboard the drone, wherein the positioning control subsystem is configured to provide positioning control for the drone by executing at least one flight plan data set; at least one subcontroller communicatively coupled to the positioning control subsystem; at least one ground control device communicatively coupled to the positioning control subsystem; at least one image sensor onboard the drone and communicatively coupled to the positioning control subsystem; and at least one processor configured to: a) determine at least one geographical area having a geographical area perimeter, wherein the at least one geographical area comprises at least three latitude and longitude coordinates; b) identify any obstacle within the at least one geographical area; c) determine at least one geographical geofence within the at least one geographical area, wherein the at least one geographical geofence comprises a digital boundary in digital three-dimensional space, and wherein the at least one geographical geofence is located at least one first geographical distance from the at least one geographical area perimeter; d) recognize the at least one geographical geofence as a drone boundary; e) recognize at least one marker having at least one marker location, wherein the at least one marker location represents the position of the at least one marker in three-dimensional space; f) determine at least one marker geofence, wherein the at least one marker geofence exists in digital three-dimensional space, and wherein the at least one marker geofence is located at least one first marker distance from the at least one marker location; g) recognize the at least one marker geofence as a drone boundary; h) generate a positioning plan data set, comprising: a. at least one path, wherein the at least one path is a drone positioning course plotted within the at least one geographical geofence, wherein the at least one path is configured to cause the drone to: i. avoid contacting any identified obstacle; ii. avoid crossing the at least one geographical geofence; and iii. avoid crossing the at least one marker geofence; b. at least one destination along the at least one path, wherein the at least one destination is a prescribed location in three-dimensional space based at least in part on at least one destination distance from the at least one marker location; and c. at least one rotor instruction, wherein the at least one rotor instruction is configured to cause the positioning control subsystem to operate the at least one rotor such that the drone reaches the at least one destination; and i) transmit the at least one positioning plan data set to the positioning control subsystem.

18. The apparatus of claim 17 , wherein the at least one marker, the at least one marker geofence, and the at least one destination are in motion within the at least one geographical geofence, and wherein the at least one rotor instruction is configured to cause the positioning control subsystem to operate the at least one rotor so as to cause the drone to maintain its position at the at least one destination.

19. The apparatus of claim 17 , wherein the at least one processor is further configured to: a) recognize at least one first priority marker, at least one first priority distance comprising the distance between the drone and the at least one first priority marker, and at least one first priority destination; b) recognize at least one second priority marker, at least one second priority distance comprising the distance between the drone and the at least one second priority marker, and at least one second priority destination; and c) execute at least one command comprising at least one if-then relationship, wherein the if-then relationship comprises at least one condition that when fulfilled initiates an instruction to the positioning control subsystem to cause the at least one rotor to reposition the drone from the first priority destination to the second priority destination.

20. The apparatus of claim 17 , wherein the at least one rotor instruction is configured to cause the drone to reach a plurality of destinations in a sequence, wherein the sequence comprises: a) a first destination paired with a first marker location; and b) at least one additional destination.